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strongback / strongback-java

A library for FIRST Robotics Competition robots that makes it easier to write and test your robot code.
MIT License
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Add PID support for Talon SRX and Jaguar motor controllers #40

Closed rhauch closed 8 years ago

rhauch commented 8 years ago

We're going to add hardware-based PID control. This will largely be via our existing Controller interface, which PIDController implements and which a new TalonController interface extends and exposes all of the real Talon SRX CAN PID functionality. A HardwareTalonController implementation class will directly use the wpilibj.CANTalon instance, will have a no-op Executable, and will be created via the Hardware class.

See the following class diagram.

controlledmotor

rhauch commented 8 years ago

We should be able to add other Controller implementations, such as state space or even hardware-based Jaguar.

rhauch commented 8 years ago

The Talon SRX software reference manual is here.